4-18
Emergency Stop
When an emergency stop is triggered, the AMR decelerates to a controlled stop, de-energizes the
safety outputs, and then disables its motors and engages the brakes.
The emergency stop circuit is classified as a Category 1 stop according to IEC 60204-1 (NFPA79).
There are two typical reasons to activate an emergency stop during normal operation.
• Stopping the AMR for safety reasons.
• Manually interrupting or stopping the AMR to keep it from performing its currently scheduled task if
you do not have access to MobilePlanner.
Additional Information
• Follow your site-specific emergency and safety procedures after initiating an emergency stop
function.
• The AMR will enter an Emergency Stop state if there is a disconnection or damage to the
drive motor encoder cables.
The AMR will not automatically recover from an emergency stop. Refer to 4-18-1 Emergency Stop Re-
covery Procedure on page 4-36 for more information.
Two additional safety outputs are also available for controlling user-supplied equipment during an
emergency stop. These outputs are located at the SCPU connector in the User Connections area.
They are energized with +24 VDC during normal operation and turn OFF when an emergency stop
event occurs. Refer to 3-5-1 User Connections Area on page 3-19 for more information.
An emergency stop differs from a protective stop. Refer to 4-19 Protective Stops on page 4-38 for
more information.
Indicator lights on the AMR and the pendant provide the emergency stop state. Stop flags are also
displayed on the Operator Panel. Refer to the following sections for more information.
• 4-21 Light Discs and Optional Beacon States on page 4-41
• 4-22 Light Strips and Optional Beacon States on page 4-44
• 4-23 Pendant Operation on page 4-48
• 4-13-3 Main Screen on page 4-28
• 2-4-16 Safety Function Performance Levels on page 2-20
Additional Information
If the AMR does not decelerate at the prescribed rate during an emergency stop, the mechani-
cal brakes will be applied to achieve a category 0 (immediate) stop. User intervention is re-
quired for restarting the AMR.
4-18-1
Emergency Stop Recovery Procedure
Recovery from an emergency stop requires additional manual actions only after the operator has con-
firmed that it is safe to return the AMR to operation. The AMR's drive motors remain disabled until the
procedure below is executed. This procedure cannot be used if the AMR is engaged with the Docking
Target or has a critical driving fault present.
Use the following procedure to recover from an emergency stop event.
1 Reset the device that triggered the emergency stop.
4 Operation
4-36
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
To Next Page
Loading...
Need help?
General
